Hi,
I don't know why you use R2, R3, C2, C3.
Especially C2, C3 block any DC voltage.
DC reference to GND is undefined, you can not measure it.
And here I think is tye problem in understanding.
Single ended:
If you add here DC to the input ... (to comply with common mode input voltage range) ... you have to add it to your signal.
Input signal, as well as common mode input voltage is referenced to GND (your upper schematic)
Differential:
If you add DC here, (to comply with common mode input voltage range), you don't have to add it to your signal.
Because your signal is defined as V_diff = V_p - V_m
In either case: If you are interested in DC performance, then you need to omit the series capacitors.
*****
This is the benefit of a transmitting signals differentially:
At the output you may have have an unknown V_com but a known_V_DC.
With a practical circuit:
If you have two devices and you want to transmit DC signals (maybe combined with AC) via a long wire ... you may have a GND_bounce between both devices.
* With a single ended system the GND_bounce causes errors
* with a differential system the GND_bounce does not cause errors.
Klaus